// 发布图像节点头文件

#pragma once

#include "rclcpp/rclcpp.hpp"
#include "image_transport/image_transport.hpp"
#include "cv_bridge/cv_bridge.h"
#include "ArmorDetector.hpp"    //寒假考核代码头文件

class ImgPublisher : public rclcpp::Node
{
public:
    ImgPublisher();
    void initialize();

private:
    void pub_image();

    std::shared_ptr<image_transport::ImageTransport> it_;
    image_transport::Publisher publisher_;   //发布者
    rclcpp::TimerBase::SharedPtr timer_;   //定时器
    cv::VideoCapture cap_;
    DetectOperation opera;  
    std::vector<ArmorInfo> armors; 
};

